Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

Nghin cu thc nghim iu khin m p dng cho h truyn ng bnh rng A fuzzy control based experimental research for gear drive systems
Li Khc Li H Thi nguyn e-Mail: laikhaclai@tnu.edu.vn L Th Thu H Trng H KT Cng Nghip Thi nguyn e-Mail: hahien1977@gmail.com

Tm tt
H truyn ng c khe h ni chung v truyn ng qua bnh rng ni ring l h truyn ng hin ang c ph bin trong nhiu lnh vc khc nhau. S c mt ca bnh rng lm gim cht lng ca h thng truyn ng nh pht sinh dao ng, gy va p c th lm gy rng, gy ting n khc phc nh hng ny, trc y ngi ta thng s dng mt s bin php v c kh nh tng chnh xc khi ch to; s dng bnh rng nghing, s dng rng c bin dng phc tp, v.v Tuy nhin, ch ring gii php c kh khng th gii quyt c trit nhng vn trn m cn phi kt hp vi gii php v in, gii php ny mi xut hin trong my nm gn y. Bi bo cp 3 ni dung chnh: (i) a ra mt phng php m t ton hc c cu bnh rng c k n nh hng ca ma st, n hi v khe h, m hnh ny st vi thc t v thun tin cho vic phn tch thit k b iu khin trong h thng truyn ng; (ii) Thit k b iu khin thich nghi m (Adaptive - Fuzzy) iu khin h thng; (iii) Tin hnh m phng trn Matlab v th nghim trn h thng thc khng nh hiu qu v tnh kh thi ca phng php xut.

respectively. These results strongly confirmed the effectiveness and feasibility of the proposed method.

Phn m u
H truyn ng c khe h l mt h c - in t c tnh phi tuyn mnh v ang c s dng rt rng ri trong thc t. Vi gc nhn ca bi ton c - in t thc cht y l mt h truyn ng c kh c quan tm d gia b phn ch ng v b phn cng tc. B phn ch ng y l cc loi ng c nh: ng c hi nc, ng c t trong, ng c inB phn ny to ra lc v mmen quay my cng tc hoc thc hin cc chuyn ng cng tc trc tip. B phn cng tc thng l cc c cu truyn ng n dao ca my ct gt kim loi, cc c cu truyn ng ca h thng giao thng vn ti, c cu truyn ng ca h thng my nn kh, cc c cu truyn ng ca cnh tay RbtB phn cng tc nhn lc v mmen qua b truyn thc hin cc chuyn ng theo qu o mong mun trong khng gian p ng c cc yu cu cng ngh v cc yu cu v ng lc hc nh mmen, tc . B truyn c nhim v truyn nng lng t ng c ti cc c cu cng tc. l c cu truyn lc kiu khp nh bnh rng, khp cc ng, c cu dy ai, khp li hp, h trc vt Truyn ng bnh rng c s dng trong nhiu loi my v c cu khc nhau truyn chuyn ng quay t trc ny sang trc khc hoc bin chuyn ng quay thnh chuyn ng tnh tin v ngc li. Truyn ng bnh rng c s dng rng ri v chng c u im nh kh nng truyn lc ln, m bo t s truyn n nh, h s c ch ln v truyn ng m. Truyn ng bnh rng l nhng c cu quan trng trong t, my ko, ng c t trong, my cng c, my nng nghip, my cn cu v nhiu loi thit b khc. Trong truyn ng bnh rng, nu b truyn c gia cng v lp t chnh xc s thc hin truyn chuyn ng m, s vng quay n2 ca trc b dn khng dao ng, trong qu trnh n khp cc mt rng tip xc tt vi nhau, khng xy ra chn p nhau. Song trong thc t c rt nhiu nguyn nhn khc nhau khin c cu bnh rng trong h thng truyn ng in khng tha mn cc iu kin n khp, gy ra ting n, rung ng, pht sinh nhit, gy ng sut tp trung trn phn

Abstract: Electric drive systems with backlash in

general and gear drive systems in particular are very popular in various applications. The presence of gears in these systems can significantly deteriorate performances of a drive system such as instability, unwanted noise and vibration To overcome these problems, mechanical measures have been applied including increased accuracy in manufacturing, helical gears and complicated gear profiles These problems, however, cannot fully be solved by mechanical solutions. Eletrical solutions which have been researching recently can be incoroporated to mechanical ones in oder to handle them. The contents of this research mainly consists of: a mathmatical model of the system, in which effects of friction, elastics and backlash are considered. This model is appropriate to a real model so that it is convenient for analyzing and synthezing a controller. An adaptive - Fuzzy controller is designed to control this system. Simulation and experimental results are obtained by Matlab and experimental equipments,

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

lm vic ca rng v lm thay i t s truyn. Cc nguyn nhn c th k n nh: cng vng ca trc truyn khng phi l gi tr v hn; truyn ng c khe h; do tnh cht ca ti trng bin i H truyn ng c khe h ni chung v truyn ng qua bnh rng ni ring l h truyn ng hin ang c ph bin trong nhiu lnh vc khc nhau. S c mt ca bnh rng lm gim cht lng ca h thng truyn ng nh pht sinh dao ng, gy va p c th lm gy rng, gy ting n khc phc nh hng ny, trc y ngi ta thng s dng mt s bin php v c kh nh tng chnh xc khi ch to; s dng bnh rng nghing, s dng rng c bin dng phc tp, v.v Tuy nhin, ch ring gii php c kh khng th gii quyt c trit nhng vn trn m cn phi kt hp vi gii php v in, gii php ny mi xut hin trong my nm gn y. Bi bo cp 3 ni dung chnh: (i) Xy dng m hnh ton hc c cu bnh rng c k n nh hng ca ma st, n hi v khe h. y l m hnh mi, st vi thc t v thun tin cho vic phn tch thit k b iu khin trong h thng truyn ng; (ii) Thit k b iu khin thich nghi m (Adaptive Fuzzy) iu khin h thng truyn ng t ng c n my sn xut thng qua bnh rng; (iii) Tin hnh m phng trn Matlab v th nghim trn h thng thc khng nh hiu qu v tnh kh thi ca phng php xut. cp n iu kin 2 bnh rng n khp u (t s truyn tc thi ca chng lun bng hng s) l phi tha mn 3 iu kin n khp, l: n khp ng, n khp trng v n khp kht. Gi: r10, r20 l bn knh n khp l thuyt ca bnh rng 1 v 2; r1, r2 l bn knh ln thc t ca bnh rng 1 v 2; 1, 2 l sai s gia bn knh ln l thuyt v bn knh ln thc t ca bnh rng 1 v bnh rng 2. Ta c: (1) r1 r10 - d1 ; r2 = r20 - d2 Thc t cho thy cc sai s 1 v 2 l mt hm ph thuc rt nhiu thng s nh: chnh xc khi gia cng, sai s do thit b o lng, ph thuc vo nhit, do bin dng b mt, do b mi mn trong qu trnh lm vic, do khe h ca b truyn, do sai s gc rng, do sai s bin dng rng y l sai s lun lun mc phi v c tnh ngu nhin. T s truyn gia cc bn knh thc t l: r -d r10 - d1 r1 (2) = 10 1 = r2 r20 - d2 d2 r20 1 r20 V
1
d2 r20 1 , nn ta c th khai trin biu thc

d2 r20

thnh chui ly tha v gi li s hng bc

Ni dung chnh
2.1 M hnh ton hc ca h truyn ng c bnh rng xy dng m hnh ton hc ca h truyn ng bnh rng c khe h ta xt m hnh truyn ng t ng c qua bnh rng 1 ti bnh rng 2 nh hnh 1, trong k hiu: - Jd l mmen qun tnh ca rto ng c. - J1 l mmen qun tnh ca bnh rng 1 i vi trc i qua trng tm - J2 l mmen qun tnh ca bnh rng 2 i vi trc i qua trng tm - M l mmen pht ng ca ng c. - Mc l mmen cn (m men ti) - Mms l mmen ma st trong cc trc. Jd 1 Mms1 J1 M x e Mms2 x J2
H. 1

nht, biu thc (2) c vit li: r10 - d1 r r d dd r1 d d (1+ 2 )= 10 - 1 + 10 2 - 1 2 2 (3) r2 r20 r20 r20 r20 r20 r20 r20

r1 r2

r10 d1 r10 - + 2 d2 r20 r20 r20

(4)

Mc 2

S truyn ng ca h bnh rng

2.1.1 Quan h gia tc trc dn v trc b dn Khi hai bnh rng n khp vi nhau, t s truyn trung bnh ca chng khng thay i v ph thuc vo cc bn knh, tuy nhin t s truyn tc thi ca chng thng khng c nh do sai s ch to v s mi mn cc rng trong qu trnh lm vic. Trong [1]

j1 w1 r z = =- 2 =- 2 j2 w2 r1 z1 Trong z1, z2 l s rng ca bnh rng 1 v bnh rng 2. Thay vo (4) ta c: r w2 d r - 10 + 1 - 10 d2 (5) 2 w1 r20 r20 r20 2.1.2 Phng trnh ng lc hc ca h bnh rng Da trn nh lut Niutn v chuyn ng, xt vi trng hp ch c mt cp bin dng i tip ang tip xc vi nhau ti im tm n khp P trong on n khp thc ca cp bnh rng v gi w1 ,w1 ; w2 ,w2 l vn tc gc v gia tc gc ca cc bnh rng 1 v 2, ta thit lp c phng trnh ng lc hc ca mt cp bnh rng nh sau: J ' 1 +b1w1 + M dh1 = M d (7) J 2 2 +b2 w2 - M dh2 = -M tai Trong : ' J1 = J d + J1 Mdh1, Mdh2 l cc m men n hi Md: M men pht ng ng c Mtai: Tu thuc vo dng ca ti trng, v d: M tai = M tai (2 ,1 ,t)
Theo [1] ta c: i12 =
1

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Mms: Gi thit vi trng hp cc c c bi trn bng du khi lc ma st t l vi vn tc, ta c phng trnh sau: J '1 w1 +b1w1 + M dh1 = M d (6) J 2 w2 +b2 w2 - M dh2 = -M c Nu b qua tn tht do ma st th cng sut truyn ca cp bnh rng l khng i, ngha l: w M dh11 = M dh2 2 M dh1 = M dh2 2 (7) w1 Thay (5) vo (7) ta c: r d r M dh1 = M dh2 [- 10 + 1 - 10 d2 ] (8) 2 r20 r20 r20 Kh Mh1 v Mh2 t phng trnh (8) bi (6) ta c: r d r J '1 w1 +b1w1 +(J 2 w2 +b2 w2 + M tai )[- 10 + 1 - 10 d2 ] = M d (9) 2 r20 r20 r20
2

1 s

1 Kd du/dt

H. 3

B iu khin thch nghi m

B iu khin m c bn c 1 u vo v 1 u ra nn tc tnh ton nhanh hn rt nhiu. B iu khin m c bn c 7 hm lin thuc u vo, 7 hm lin thuc u ra nh hnh 4, lut iu khin c dng tng qut: Rk: If input is mfk then output mfk. Quan h vo - ra c ch trn hnh 5.

J2 -

r10 d1 r10 r d r + - 2 d2 w2 +b2 - 10 + 1 - 10 d2 w2 + 2 r20 r20 r20 r20 r20 r20 r d r + - 10 + 1 - 10 d2 M tai = M d - J '1 w1 - b1w1 2 r20 r20 r20

(10)

Cc phng trnh (5) v (10) l phng trnh cn bng tc v phng trnh cn bng m men ca c cu bnh rng c k n cc sai lch khe h mang tnh ngu nhin 1, 2 v k n nh hng ca tnh n hi ca cc rng, cc trc v k n ma st gi cc trc. Cc phng trnh ny c s dng kho st v nh gi nh hng ca c cu bnh rng n cht lng h thng truyn ng c s tham gia ca chng. 2.2 Xy dng b iu khin thch nghi cho h truyn ng qua bnh rng Trong nghin cu trc [1] chng ti xy dng h iu khin thch nghi theo m hnh mu vi b iu khin thch nghi m 2 u vo iu khin h truyn ng qua bnh rng, kt qu m phng cho c tnh rt tt song b iu khin ny c tc tnh ton chm nn khng ph hp vi h thng th nghim hin ti. Chng ti xut mt cu trc iu khin mi (hnh 2), trong b iu khin thch nghi m theo quy lut PD c cu trc nh hnh 3, gm 3 phn: b iu khin m c bn, c cu thch nghi v thnh phn vi phn. C cu thch nghi chnh nh h s khuch i u ra ca b iu khin m c bn. M hnh mu ym y

H. 4

Hm lin thuc u vo v u ra ca b iu khin m

H. 5

Quan h vo - ra ca b iu khin m

C cu thch nghi lm thay i h s khuch i K ca b K m. Qui lut chnh nh K nh sau [1]: dK e 2 .e g (11) dt K Trong : l h s ni ln tc hi t ca thut ton thch nghi; m hnh mu l h iu khin kinh in cho h truyn ng c bnh rng khi khng k n sai lch; l sai lch u ra ca h thng v u ra m hnh mu; e l sai lch gia tn hiu t v tn hiu phn hi. Kt qu chy m phng h thng trn phn mm Matlab Simulink c ch ra trn hnh 6.
50

40

Toc do (rad/s)

t e B K thch nghi i tng Scope

H. 6 H. 2 Cu trc h iu khin thch nghi

30

C iu khin Khng iu khin

20

10

2 3 Thoi gian (s)

c tnh tc trc b ng khi chy m phng

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

2.3 Kt qu thc nghim S khi h thng thc c ch ra trn hnh 7. Trong cc thit b th nghim bao gm: ~ in p li DS1104 Controller PCI

DC servo

Bnh rng

Ti

Driver servo motor Encoder Encoder

H. 7

S khi h thng thc nghim

Thit b phn cng: My tnh Pentum IV; Card DS1104 (hnh 8) c g lp trn Mainboard ca my tnh qua khe PCI; B bin i AC-DC (hnh 9a) l b bin i xung p c o chiu, mch lc dng tranzitor IGBT, in p nh mc Um = 140V, dng in nh mc Im = 4A, nhn tn hiu iu khin tng t (-10V n 10V); cp bnh rng t ch to, ng c in 1 chiu kch t c lp ni vi trc ch ng; ti l ng c d b 3 pha lm vic ch hm (Hnh 9b); 2 sens tc loi 1000xung/vng c gn vi trc ch ng v trc b ng. Bi ton iu khin t ra y l gi cho tc trc b ng (my sn xut) t b rung ng do nh hng ca bnh rng. Phn mm: Matlab iu khin thc version 7.0.4 v phn mm ControlDesk Version 5.0. Lp trnh iu khin, gim st thng qua my tnh. Thi gian trch mu tn hiu T = 0.001s. Th vin cc khi ca DSPACE1104 c nhng trong phn mm Matlab-Simulink.

nghim c ch ra trn cc hnh t hnh 10 n hnh 12. Trong : Hnh 10 l c tnh tc ca trc b dn khi cha c b iu khin; Hnh 11 l c tnh tc ca trc b dn khi s dng b iu khin thch nghi m; Hnh 12 l c tnh tc ca trc b dn c m t trong khong 0,2 giy.

H. 10 c tnh tc ca trc b ng khi cha c b iu khin

H. 11 c tnh tc ca trc b ng s dng b iu khin thch nghi m H. 8 Card DSPACE 1104

b a

a)
H. 9

b)

H. 12 c tnh tc ca trc b ng khi cha c b iu khin (a) v c b iu khin (b).

a. B iu khin cng sut b. ng c v ti

Kt lun
T kt qu m phng v thc nghim ta thy rng khi s dng b iu khin m thch nghi cho h thng truyn ng c s tham gia ca bnh rng cho

Tin hnh chy th nghim h thng thng qua phn mm iu khin ControlDesk 5.0. Kt qu thc

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php ta gim ng k nhng dao ng gy nn bi khe h, n hi v ma st ca bnh rng. Khi c tc ng iu khin h thng chy m, ting n c kh gim i r rt. Kt qu trn khng nh tnh ng n ca thut ton v cho php p dng vo iu khin cc h thng truyn ng trong thc t. Biography Th.S L Thi Thu H sinh ngy 23 thng 3 nm 1977 ti ng Ho - H Ty. Nhn bng i hc 1 ngnh in kh ha x nghip nm 1999, nhn bng i hc 2 ngnh Ting Anh 2006, nhn bng thc s ngnh T ng ho 2003. Hin ang l nghin cu sinh. Cng tc chuyn mn: Ging dy i hc. Nghin cu ng dng l thuyt iu khin hin i (iu khin m, mng n ron...) cho cc h thng iu khin. Cng tc qun l: Trng B mn K Thut in - i hc K thut Cng nghip Thi Nguyn

Ti liu tham kho

[1] Li Khc Li.; L Th Thu H.: Mt phng php nng cao cht lng h truyn ng qua bng rng. Tuyn tp hi ngh ton quc ln th 5 v C in t., Nh xut bn Khoa hc t nhin v Cng ngh, thng 10/2010; Trang 134137. Lassaad Walha.; Tahar Fakhfakh.; Mohamed Haddar.: Nonlinear dynamics of a two-stage gear system with mesh stiffness fluctuation, bearing flexibility and backlash. Mechanism and Machine Theory 44 (2009) 1058-1069. Kang Lia, *.; Jian-Xun Penga.; Er-Wei Baib.: A two - stage algorithm for identification of nonlinear dynamic systems. Automatica 42 (2006) 1189-1197. Hunh Vn ng.: Tng hp iu khin thch nghi da trn phng php backstepping cho h truyn ng c n hi, khe h v ma st kh phi tuyn. Lun n tin s k thut (2009). Experiment Guide For Release 5.0. Hardware Installation and Configuration for Release 5.0. New Features and Migration for Release 5.0. Automation Guide for Release 4.2. Implementation Guide for Release 5.0.

[2]

[3]

[4]

[5] [6] [7] [8] [9]

Biography PGS.TS. Li Khc Li sinh ngy 20 thng 2 nm 1956 ti Nam nh. Nhn bng i hc 1 ngnh in kh ha x nghip nm 1979, nhn bng i hc 2 ngnh Cng ngh thng tin nm 2000, nhn bng thc s ngnh iu khin nm 1998, nhn bng tin s ngnh iu khin. Nhn chc danh ph gio s nm 2007, danh hiu Nh gio u t nm 2008. Cng tc chuyn mn: Nghin cu ng dng l thuyt iu khin hin i (iu khin m, mng n ron, iu khin d bo...) cho cc h thng iu khin. Ging dy i hc, cao hc v hng dn NCS. Cng tc qun l: Trng ban Ban khoa hc Cng ngh v Mi trng - i hc Thi Nguyn

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